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fix gamepad layout and refuse a pad whose axes disagree

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An Xbox One S pad over Bluetooth numbers its controls differently from the
indices this node shipped with: the right stick is on axes 2 and 3, the
triggers on 4 and 5, and the buttons carry gaps at 2 and 5. Against the old
layout an untouched pad reported a resting trigger as full right-stick
deflection, which asked for 30 deg/s of pitch while lying on the desk, held
the lease for ever so GAMEPAD_IDLE_RELEASE_S never fired, and moved a real
arm into a controller error. X toggled freedrive and LB was the E-STOP, so
the resulting latch could not be released from the pad at all.

Layout now carries the swept indices. Each pad is also measured the first
time it is seen at rest: a stick must rest near centre and a trigger near
the bottom of its travel, and a pad that does not fit reads as absent and is
named in the log rather than driving an arm from a numbering nobody checked.
The measured rest becomes each axis's zero, so a worn stick's tilt is
subtracted rather than deadzoned away and a trigger that reads 0 until it
first moves stops reading as half pressed.

Rest is never re-measured while the pad is in use, because doing that under
a held stick would record the deflection as centre and the arm would move
when the operator let go. The probe drives from the same calibration, so
what it prints is still what the arm would get, and it shows the mismatch.

Tests name their controls through axes_for and buttons_for instead of
numbering them; the positional lists are why a wrong index passed a green
suite.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
This commit is contained in:
cristhian
2026-09-16 18:06:06 -03:00
co-authored by Claude Opus 5
parent 7c1c33f5b1
commit d0f884c7e2
8 changed files with 514 additions and 84 deletions
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tests/test_deadman.py
+24 -17
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@@ -6,7 +6,7 @@ from dora_teleop import main as loop
from dora_teleop.arbiter import GAMEPAD, WEB
from dora_teleop.config import Config
from dora_teleop.joy import Sample
from tests.conftest import RecordingNode, input_event, joy_message, stick
from tests.conftest import RecordingNode, buttons_for, input_event, joy_message, stick
STOP = [0.0] * 6
PUSHED = [0.0, -1.0]
@@ -47,7 +47,14 @@ def ticks(node, state, count=1):
def drive(node, state, sample, count=1):
"""Hold one reading for `count` ticks, the way a real pad and joy node would."""
"""Hold one reading for `count` ticks, the way a real pad and joy node would.
A pad this node has not yet seen at rest is sent one resting reading first,
because a real one is always at rest before a thumb reaches it — and the
node refuses to drive an arm from a pad it has never seen still.
"""
if not state.joy.calibration.known:
send_joy(node, state, stick())
for _ in range(count):
send_joy(node, state, sample)
loop._tick(node, state)
@@ -271,7 +278,7 @@ def test_a_latched_estop_keeps_the_arm_still_under_a_pushed_stick(clock):
drive(node, state, stick(axes=PUSHED))
node.clear()
drive(node, state, stick(axes=PUSHED, buttons=[False] * 6 + [True]))
drive(node, state, stick(axes=PUSHED, buttons=buttons_for(estop=True)))
node.clear()
jogs = drive(node, state, stick(axes=PUSHED), count=4)
@@ -282,11 +289,11 @@ def test_the_pad_can_release_the_latch_it_set(clock):
# A pad-only dataflow has no console RESET, so a latch nothing on the pad
# can release would strand the arm until the process was restarted.
node, state = build()
drive(node, state, stick(buttons=[False] * 6 + [True]))
drive(node, state, stick(buttons=buttons_for(estop=True)))
assert state.view.estop is True
node.clear()
drive(node, state, stick(buttons=[False, False, True]))
drive(node, state, stick(buttons=buttons_for(clear=True)))
assert state.view.estop is False
assert "clear" in node.services()
@@ -296,20 +303,20 @@ def test_the_latch_is_released_without_holding_the_arm(clock):
# An idle pad hands the lease back two seconds after the stop it just made,
# so gating the release on the lease would be a trap.
node, state = build()
drive(node, state, stick(buttons=[False] * 6 + [True]))
drive(node, state, stick(buttons=buttons_for(estop=True)))
state.arbiter.release(GAMEPAD)
state.arbiter.take(WEB, clock.t)
node.clear()
drive(node, state, stick(buttons=[False, False, True]))
drive(node, state, stick(buttons=buttons_for(clear=True)))
assert state.view.estop is False
def test_the_arm_drives_again_once_the_latch_is_released(clock):
node, state = build()
drive(node, state, stick(buttons=[False] * 6 + [True]))
drive(node, state, stick(buttons=[False, False, True]))
drive(node, state, stick(buttons=buttons_for(estop=True)))
drive(node, state, stick(buttons=buttons_for(clear=True)))
node.clear()
jogs = drive(node, state, stick(axes=PUSHED))
@@ -322,7 +329,7 @@ def test_a_latched_estop_stops_the_browser_too(clock):
# through a stop somebody made on the gamepad.
node, state = build()
state.clients = 1
drive(node, state, stick(buttons=[False] * 6 + [True]))
drive(node, state, stick(buttons=buttons_for(estop=True)))
state.arbiter.release(GAMEPAD)
state.arbiter.take(WEB, clock.t)
node.clear()
@@ -337,7 +344,7 @@ def test_the_estop_button_works_without_the_pad_holding_the_arm(clock):
node, state = build()
state.arbiter.take(WEB, clock.t)
drive(node, state, stick(buttons=[False] * 6 + [True]))
drive(node, state, stick(buttons=buttons_for(estop=True)))
assert "stop" in node.services()
@@ -402,7 +409,7 @@ def test_a_button_asks_in_verbs_as_well_as_in_services(clock):
# what dora-ulite6 reads until it does.
node, state = build()
drive(node, state, stick(buttons=[True]))
drive(node, state, stick(buttons=buttons_for(grasp=True)))
assert node.actions() == ["gripper_close"]
assert "grasp" in node.services()
@@ -410,10 +417,10 @@ def test_a_button_asks_in_verbs_as_well_as_in_services(clock):
def test_every_verb_the_pad_can_ask_for_is_robot_agnostic(clock):
node, state = build()
drive(node, state, stick(buttons=[False, True]))
drive(node, state, stick(buttons=[False] * 3 + [True]))
drive(node, state, stick(buttons=[False] * 6 + [True]))
drive(node, state, stick(buttons=[False, False, True]))
drive(node, state, stick(buttons=buttons_for(release=True)))
drive(node, state, stick(buttons=buttons_for(freedrive=True)))
drive(node, state, stick(buttons=buttons_for(estop=True)))
drive(node, state, stick(buttons=buttons_for(clear=True)))
assert node.actions() == ["gripper_open", "freedrive", "stop", "clear"]
@@ -426,6 +433,6 @@ def test_the_first_press_after_the_pad_has_been_idle_is_not_dropped(clock):
node, state = build()
assert state.arbiter.owner is None
drive(node, state, stick(buttons=[True]), count=3)
drive(node, state, stick(buttons=buttons_for(grasp=True)), count=3)
assert node.actions() == ["gripper_close"]